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ROS2 package develop

package from code to deploy

Table of Content

ROS2 Package#

from code to deploy#

ROS2#

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Robot Operating System (ROS) is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development (wikipedia)

ROS2#

  1. How to resolve the robotic problem
  2. Why of thinking
  3. Think only on your’s.
  4. Standard. Standard. Standard.
  5. Community

ROS2 Framework#

  1. Nodes / Process
  2. Communication (DDS)
  3. Tools (rqt, bag, ..)
  4. ECO System (diagnostics, logging, allot of packages)
  5. Standard. Standard. Standard.

Verbs#

  • Package
  • Nodes
  • Topics
  • Pub
  • Sub
  • Service
  • Action
  • Parameters
  • Messages

Code to Deploy#

let’s start#

AXE and other tools#

“Give me six hours to chop down a tree and I will spend the first four sharpening the axe” (Abraham Lincoln)

  • Dev environment
  • VSCode

Package from code to deploy#

  • Requirements analysis
  • Design
  • Coding

Continue …#

  • Code quality
  • Tests
  • Linters
  • Static and Dynamic analyze
  • Source Control
  • Documents
  • Package Version
  • Deploy
  • CI / Maintenance

Language#

  • Python (3.10)
  • CPP (C++17)
  • CMAKE
  • XML / yaml / json / schema
  • BASH
  • GIT
  • Network
  • Physics and Simulation
  • Markdown

Dev Environment#

  • GIT
  • VSCode
  • Extensions
  • ROS2
  • Docker
  • Network and diagnostic tools

VSCode#

  • Python
  • autoDocstring
  • pylint, pylance
  • Git
  • Git Graph
  • Git Lance

VSCode more Extensions#

  • Other
  • xml
  • xml tools
  • yaml
  • Helper
  • tabout
  • draw.io
  • project manager
  • Code spell checker

Demo Time#

Simple python package from code to deploy

  • Requirements and Design
  • Code
  • Code Quality
  • Source Control
  • Versioning
  • Dependencies
  • Deploy

Demo#

Optical Flow simple tracker

Design#

4 Nodes - Image source - test - camera - Tracker - Viewer and controller

Topic and messages#

Code Quality#

Take time but pay off in the long run#

  • Type hinting
  • Formatters
  • Linters
  • Test (pytest)
  • unit test
  • integration test
  • Commit / Pre-commit

Type hinting#

Type hint should be use whenever unit test are worth writing

They help you as a developer write better code

Linters#

A linter is a tool to help you improve your code

  • Fewer errors in production
  • Readable, maintainable, consistent code
  • Code Style (no endless arguments)
  • More secure and performant code

Linters tools#

  • Pylint
  • Flake8
  • mypy

GIT#

  • branching strategy
  • commit
  • tag
  • merge request

branching strategy#

GIT helping tools#

  • GIT cli
  • VSCode
  • Builtin
  • GitLens
  • Git Graph

Thinks that left out#

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